A dynamic torque compensation control method, device, medium and product of a compressor
Patent Information
- Application Number
- CN202611010206.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-08
- Publication Date
- 2026-09-15
Smart Images
Figure CN122764053A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of motor drive control technology, and in particular to a dynamic torque compensation control method, device, medium, and product for a compressor. Background Technology
[0002] Permanent magnet synchronous motors (PMSMs) are widely used in home appliances and automotive drives due to their high power density, high operating efficiency, and excellent speed regulation performance. Especially in heat pump dryers, single-rotor compressors have become the mainstream choice due to their compact structure and low cost. However, the mechanical structure of a single-rotor compressor means that during operation, the eccentric crankshaft driving the piston to compress the refrigerant generates pulsating load torque that varies periodically with the rotor position. This fluctuation in load torque causes periodic fluctuations in motor speed, leading to increased compressor vibration, noise, and in severe cases, even motor step loss or malfunction. Therefore, torque compensation control strategies must be introduced to suppress torque pulsation and achieve smooth and quiet compressor operation.
[0003] Existing compensation schemes fall into two categories. One type involves performing Fourier analysis on the fundamental velocity wave, extracting the DC component using a low-pass filter, and then generating the compensation phase and gain via a PI controller. However, since the compressor's operating frequency is dynamically changing, and the mechanical speed signal often contains complex harmonic components, designing a low-pass filter is difficult. Furthermore, during rapid deceleration, the feedback speed lags behind the given speed, resulting in a DC component in the speed difference. When fed into the PI controller, this causes integral accumulation, leading to compensation failure, or even the opposite result, resulting in deceleration failure. The other type of compensation method utilizes the periodic variation characteristics of the load torque, reconstructing the compensation torque using a sine or cosine function. Extensive offline testing of the compensation phase and gain is then conducted to find the optimal compensation effect. This method has the advantage of not relying on complex mathematical models, requiring less processor resources, and exhibiting good steady-state performance. However, the compensation angle varies under different compressor operating frequencies and power loads, requiring extensive pre-calibration and testing, resulting in high costs and poor versatility. Summary of the Invention
[0004] Purpose of the invention: The purpose of this invention is to provide a dynamic torque compensation control method, device, medium, and product for a compressor, which can utilize the periodic characteristics of the compressor load torque to perform online real-time optimization and obtain the optimal compensation parameters, thereby effectively suppressing speed fluctuations and reducing compressor vibration and noise under all operating conditions.
[0005] To achieve the above objectives, the present invention provides a dynamic torque compensation control method for a compressor, the method comprising: Drive the compressor to run and collect the mechanical speed of the compressor in real time; When the mechanical speed is within the compensation range, determine whether the compressor is in a steady-speed operation state; When the compressor is in a steady-speed operation state, the speed fluctuation of the mechanical speed is used to find... The optimal compensation parameters for the shaft current compensation model, the The shaft current compensation model is used to characterize the The relationship between shaft current and the compensation parameters, and the mechanical speed of the compressor; According to the optimal compensation parameters when using The shaft current compensates for the load torque of the compressor.
[0006] Optionally, the method further includes: When the compressor is in the initial start-up acceleration phase, The shaft current uses the initial value of the compensation parameter to perform load torque compensation; During operation, when the mechanical speed is not in a stable operating state, the The shaft current uses the optimal compensation parameters from the previous steady-speed operating state to compensate for the load torque.
[0007] Optionally, the compensation parameters include compensation gain and compensation phase. The expression for the shaft current compensation model is: , in, for shaft current; To compensate for the gain; It is the harmonic order; This refers to the mechanical speed of the compressor. To compensate for the phase; This refers to the compressor's running time.
[0008] Optionally, the search can be based on the speed fluctuation of the machine. The optimal compensation parameters for the shaft current compensation model include: One of the compensation parameters is selected as the parameter to be optimized, while the other compensation parameters retain their current values. Using the speed fluctuation index as the cost function, the gradient descent method is used to optimize the parameters to be optimized and obtain the optimal parameter values. The optimal parameter value is used as the current value of the parameter to be optimized, and then the gradient descent method is used to optimize the other compensation parameters one by one until the optimal parameter value of all compensation parameters is obtained.
[0009] Optionally, the step of optimizing the parameter to be optimized using the gradient descent method includes: A first parameter perturbation is applied to the parameter to be optimized in the first gradient direction; Calculate the speed fluctuation index and the change in the fluctuation index after applying the disturbance; The stopping optimization condition is determined in real time based on the obtained speed fluctuation index and / or the change in fluctuation index. If the condition is met, the optimization stops. If the conditions are not met, the direction of the first gradient is determined based on the change in the fluctuation index. When the first gradient direction is correct, the parameters to be optimized are updated in unit step size according to the first gradient direction, and the speed fluctuation index and the change of the fluctuation index are recalculated after each update until the obtained speed fluctuation index and / or the change of the fluctuation index meet the conditions, then the optimization stops. When the first gradient direction is incorrect, the parameter to be optimized is updated in unit steps along the gradient direction opposite to the first gradient direction, and the speed fluctuation index and the change of fluctuation index are recalculated after each update until the obtained speed fluctuation index and / or the change of fluctuation index meet the conditions, then the optimization stops.
[0010] Optionally, after stopping the optimization, the method further includes: Starting from the parameter value when the optimization of the parameter to be optimized stops, a second parameter perturbation is applied to the parameter to be optimized along the current gradient direction. The speed fluctuation index and the change of the fluctuation index after applying the second parameter perturbation are calculated. The second parameter perturbation is greater than the first parameter perturbation. When the change in the obtained volatility index is greater than 0, the parameter value at which the optimization stopped will be taken as the optimal parameter value. When the change in the obtained fluctuation index is less than 0, the current parameter value of the parameter to be optimized is used as the starting point, and the unit step size is gradually applied to the parameter to be optimized for optimization.
[0011] Optionally, the second parameter perturbation is at least twice the unit step size.
[0012] Optionally, the stopping condition is that the optimization stops when either the absolute value condition or the rate of change condition is met. Absolute value condition: The speed fluctuation index is less than the first preset threshold; Change rate condition: The change in the fluctuation index is less than the second preset threshold for M consecutive times, where M is an integer greater than 1.
[0013] Optionally, the unit step size is smaller than the first parameter perturbation.
[0014] Optionally, after the step of obtaining the optimal parameter values of all compensation parameters, the method further includes: When the compressor is in a steady-speed operation state, if the current speed fluctuation index reaches the third preset threshold as the load increases, then all compensation parameters will be re-optimized one by one.
[0015] Optionally, calculating the speed fluctuation index specifically includes the following steps: Real-time continuous data acquisition The complete speed fluctuation cycle; for the first One fluctuation cycle, Calculate the difference between the maximum and minimum mechanical rotational speeds within the fluctuation period, and record it as the peak-to-peak value. , ; calculate The arithmetic mean of the peak-to-peak values of each fluctuation cycle is used as the speed fluctuation index. The expression is: .
[0016] Based on the same inventive concept, the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the dynamic torque compensation control method for the compressor as described above.
[0017] Based on the same inventive concept, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the program is executed by a processor, it implements the steps of the dynamic torque compensation control method for a compressor as described above.
[0018] Based on the same inventive concept, the present invention provides a computer program product, characterized in that the computer program product includes a computer program, which, when executed by a processor, implements the steps of the dynamic torque compensation control method for a compressor as described above.
[0019] Beneficial Effects: Compared with the prior art, the present invention has the following significant advantages: The present invention utilizes the periodic characteristics of the compressor load torque to perform online real-time optimization, automatically obtain the optimal compensation parameters such as the optimal compensation phase and compensation gain of the q-axis current, and superimposes the compensation component into the q-axis current of the permanent magnet synchronous motor vector control to suppress the periodic load torque fluctuations during compressor operation, thereby achieving smooth and quiet operation of the compressor. This effectively suppresses speed fluctuations and reduces compressor vibration and noise under all operating conditions. In order to prevent the algorithm from getting trapped in local minima, the present invention introduces a variable step size detection mechanism. After the gradient descent converges, it attempts to apply a large step perturbation on the basis of the current optimal value to determine whether there is a better solution, thereby ensuring that the system converges to the global optimal compensation point. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the process of the present invention; Figure 2 This is a diagram showing the relationship between the compensation phase and the velocity fluctuation amplitude in this invention. Figure 3 This is a schematic diagram illustrating the updating and use of compensation parameters in this invention; Figure 4 This is a schematic diagram of the compensation parameter optimization process in this invention; Figure 5 This is a schematic diagram of the electronic device in this invention; Figure 6 This is a schematic diagram of a computer-readable storage medium in this invention. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of the technical solutions of this application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of this application, and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0022] The dynamic torque compensation control method for compressors provided in this application can be applied to devices with compressors, such as air conditioners and dryers. These devices include compressors and controllers, where the controller can be, but is not limited to, an MCU processor or a microcontroller.
[0023] The following is in conjunction with the accompanying drawings. Figure 1 and Figure 4 To further illustrate the technical solution of the present invention, a dynamic torque compensation control method for a compressor in the present invention includes: Step S101: Drive the compressor to run and collect the compressor's mechanical speed in real time.
[0024] The controller drives the compressor to run and collects the compressor's mechanical speed in real time.
[0025] Step S102: When the mechanical speed is within the compensation range, determine whether the compressor is in a steady-speed operation state.
[0026] Determine whether the compressor's mechanical speed is within the compensation range that requires torque compensation. If the compressor is not within the compensation range, there is no need to perform torque compensation on the compressor. If the compressor is within the compensation range, determine whether the compressor is in a steady-speed operating state. For example, the rate of change of the compressor's mechanical speed can be used to determine whether the compressor is in a steady-speed operating state.
[0027] In one embodiment, the minimum mechanical speed of the compressor is set. and maximum mechanical speed Then the compensation range can be set as Specifically, the mechanical speed of the compressor. ,in , This refers to the compressor's mechanical frequency. Among these, the minimum mechanical speed... The corresponding activation frequency threshold is Maximum mechanical speed The corresponding cutoff frequency threshold is By obtaining the start-up and stop-down frequency thresholds of the mechanical frequency, the compensation range of the mechanical speed can be calculated. The start-up and stop-down frequency thresholds can be set according to the actual operating conditions of the compressor. For example, the start-up frequency threshold can be set as follows: 18Hz can be selected, and the cutoff frequency threshold is... 60Hz is acceptable.
[0028] Step S103: When the compressor is in a steady-speed operation state, find the speed fluctuation based on the mechanical speed. Optimal compensation parameters for the shaft current compensation model. The shaft current compensation model is used to characterize The relationship between shaft current and compensation parameters, and the mechanical speed of the compressor.
[0029] in, The shaft current is the quadrature shaft current of the compressor. The smaller the speed fluctuation of the mechanical rotation, the higher the stability of the compressor operation. By finding the optimal compensation parameter for the q-axis current, the speed fluctuation of the mechanical rotation is minimized. Furthermore, the optimal compensation parameter is found by monitoring the changes in the speed fluctuation value.
[0030] Step S104: Based on the optimal compensation parameters... The shaft current compensates for the load torque of the compressor.
[0031] During operation, the compressor generates a load torque that varies periodically with the rotor position due to the influence of the eccentric crankshaft and the gas compression process. This directly affects the mechanical speed of the compressor. It produces periodic fluctuations.
[0032] According to the equation of motion of the electric motor: , In the formula, For load torque, For rotational inertia, For electromagnetic torque, The coefficient of friction, This refers to the mechanical speed of the compressor. To suppress the mechanical speed of the compressor... The fluctuations in load torque necessitate the generation of a compensating electromagnetic torque that is equal in magnitude but opposite in direction to the load torque fluctuation component. This is because the electromagnetic torque in a permanent magnet motor... and shaft current Proportional to this, therefore, the present invention transforms the problem of compensating for the load torque of the compressor into a problem of finding... shaft current The problem of finding the optimal compensation parameters.
[0033] This invention utilizes the periodic characteristics of compressor load torque to automatically obtain the optimal compensation parameters for the q-axis current in real-time online. A compensation component is then superimposed on the q-axis current of the permanent magnet synchronous motor under vector control to suppress periodic load torque fluctuations during compressor operation, achieving smooth and quiet compressor operation. This effectively suppresses speed fluctuations and reduces compressor vibration and noise under all operating conditions. In one embodiment, the compensation parameters may include compensation gain and compensation phase. The expression for the shaft current compensation model is: , in, for shaft current; To compensate for the gain; It is the harmonic order; This refers to the mechanical speed of the compressor. To compensate for the phase; This represents the compressor's operating time. The harmonic order is primarily based on the first harmonic.
[0034] In one embodiment, when the compressor is not in a steady-speed operating state, the dynamic torque compensation control method for the compressor further includes: when the compressor is in the initial start-up acceleration phase, The shaft current uses the initial value of the compensation parameters for load torque compensation; during operation, when the mechanical speed is not in a steady-state operating state, The shaft current uses the optimal compensation parameters from the previous steady-speed operating state to compensate for the load torque.
[0035] Before driving the compressor, initialize the compensation parameters in the q-axis current compensation model. Please refer to... Figure 3 , Figure 3This example illustrates load torque compensation at various stages of compressor operation. Specifically, in this example, the compensation parameters are compensation gain and compensation phase. The initial value of the compensation gain k is chosen to be a small, safe value, such as 1A, to avoid noise caused by incorrect initial phase. The initial value of the compensation phase θ can be selected based on experience or simple initial adjustments, and can be 180°. The compensation range for the mechanical speed corresponds to the mechanical frequency f, which is (18Hz, 60Hz). When the mechanical frequency f is less than 18Hz, the corresponding mechanical speed is not within the compensation range, and no load torque compensation is performed. When the mechanical frequency f is greater than 18Hz but less than 35Hz, during the compressor's first start-up acceleration process, the compensation gain is used. and compensation phase The initial value is used for load torque compensation. When the mechanical frequency f is 35Hz and the compressor is in a steady-speed operation state, the optimal compensation gain is found. and compensation phase Load torque compensation is performed; when the mechanical frequency deviates from the 35Hz steady-speed operation state and enters the climbing acceleration state, the optimal compensation gain when the mechanical frequency f is 35Hz is used. and compensation phase Load torque compensation is performed; when the mechanical frequency f reaches a stable operating state of 50Hz after the ramp-up is completed, the optimal compensation gain is sought. and compensation phase Load torque compensation is performed; when the mechanical frequency f is greater than 50Hz but less than 60Hz and the machine is in a climbing acceleration state, the optimal compensation gain when the mechanical frequency f is 50Hz is used. and compensation phase Load torque compensation is performed; when the mechanical frequency f is greater than 60Hz, the corresponding mechanical speed is not within the compensation range, so no load torque compensation is performed; when the mechanical frequency f is less than 60Hz and the machine is in a deceleration state, the optimal compensation gain when the mechanical frequency f is 50Hz is used. and compensation phase Load torque compensation is performed; when deceleration ends and a steady-speed operating state is reached, the optimal compensation gain is sought. and compensation phase Load torque compensation is performed.
[0036] In one embodiment, the search is based on the speed fluctuation of the mechanical rotation. The steps for optimizing the compensation parameters of the shaft current compensation model may include: One of the compensation parameters is selected as the parameter to be optimized, while the other compensation parameters retain their current values.
[0037] When the compensation parameters include multiple parameters, one of the compensation parameters is optimized first, while the other compensation parameters in the q-axis current compensation model remain unchanged.
[0038] For example, during the initial acceleration process, other compensation parameters maintain their initial values. During acceleration or deceleration, other compensation parameters maintain their optimal compensation values from the previous steady-state operation. When the compensation parameters include compensation gain and compensation phase, the compensation gain can be kept constant at its current value, and the compensation phase can be optimized. The specific optimization order is not restricted.
[0039] Using the speed fluctuation index as the cost function, the gradient descent method is used to optimize the parameters to obtain the optimal parameter values.
[0040] The speed fluctuation index is used to characterize the average fluctuation of the compressor speed over multiple cycles. The speed fluctuation within a cycle can be calculated based on the difference between the maximum and minimum speed values, the difference between the peak speed and the reference speed value, or other methods.
[0041] In one embodiment, calculating the speed fluctuation index specifically includes the following steps: Real-time continuous data acquisition The complete speed fluctuation cycle; for the first One fluctuation cycle, Calculate the difference between the maximum and minimum mechanical rotational speeds within the fluctuation period, and record it as the peak-to-peak value. , ; calculate The arithmetic mean of the peak-to-peak values of each fluctuation cycle is used as the speed fluctuation index. The expression is: .
[0042] Through the above averaging process, sensor noise and occasional mechanical disturbances are effectively filtered out, making... It can accurately reflect the current torque compensation effect. It should be noted that the speed fluctuation index is not limited to the calculation method described above; other calculation methods that can be used to measure speed fluctuation can also be employed.
[0043] like Figure 2 As shown, the relationship between the speed fluctuation index and the compensation parameter exhibits concave function characteristics, with a globally unique minimum point, i.e., the optimal compensation point. Using the gradient descent method, the compensation parameter is iteratively updated according to the direction of the partial derivative of the objective function with respect to the compensation parameter until the speed fluctuation index converges to the minimum value, thus finding the optimal parameter value.
[0044] The optimal parameter value is used as the current value of the parameter to be optimized, and then the gradient descent method is used to optimize the other compensation parameters one by one until the optimal parameter value of all compensation parameters is obtained.
[0045] In one embodiment, the gradient descent method is used to optimize the parameters to be optimized, including: applying a first parameter perturbation to the parameters to be optimized along a first gradient direction; calculating the speed fluctuation index and the change in the fluctuation index after the perturbation; determining the stopping condition for optimization in real time based on the obtained speed fluctuation index and / or the change in the fluctuation index, and stopping the optimization if the condition is met; if the condition is not met, determining whether the first gradient direction is correct based on the change in the fluctuation index; when the first gradient direction is correct, continuing to update the parameters to be optimized in unit steps according to the first gradient direction, and recalculating the speed fluctuation index and the change in the fluctuation index after each update, until the obtained speed fluctuation index and / or the change in the fluctuation index meets the condition, and then stopping the optimization; when the first gradient direction is incorrect, updating the parameters to be optimized in unit steps along a gradient direction opposite to the first gradient direction, and recalculating the speed fluctuation index and the change in the fluctuation index after each update, until the obtained speed fluctuation index and / or the change in the fluctuation index meets the condition, and then stopping the optimization.
[0046] In the initial stage of optimization, a first parameter perturbation is applied to probe whether the gradient direction is correct. After confirming the gradient direction is correct, further iterative optimization is performed. The unit step size used in the iterative optimization is smaller than that of the first parameter perturbation. Using a larger value for the first parameter perturbation is more conducive to determining whether the gradient direction of the first optimization is correct.
[0047] The following parameters to be compensated include compensation gain and compensation phase, with the current compensation gain fixed. The value, for the current compensation phase Let's take optimization as an example. A first parameter perturbation is applied to the current compensation phase, i.e., a first phase perturbation is applied. The compensated phase of the first phase compensation , Among them, the first phase perturbation Here, 10° is used as an example, but it is not limited to 10°.
[0048] At the current compensation gain and compensation phase Next, calculate the speed fluctuation index for the first phase compensation. and the change in volatility indicators , Where C(0) is the speed fluctuation index before the parameter to be compensated is optimized.
[0049] If the change in volatility index This indicates that the gradient descent direction is correct, and updates should continue in that direction; if This indicates that the extreme point has been exceeded or the direction is incorrect, and a reverse adjustment is required.
[0050] No. The compensation phase of the sub-phase compensation , This is a sign function; a positive number inside the parentheses results in 1; a negative number inside the parentheses results in -1; and 0 inside the parentheses results in 0. To update the phase step size, for example, It can be 5° or 3°, etc. In the current compensation gain... and compensation phase Next, calculate the speed fluctuation index for the second phase compensation. and the change in volatility indicators , ;like This indicates that the gradient descent direction is correct, and updates should continue in that direction; if This indicates that the extreme point has been exceeded or the direction is incorrect, and a reverse adjustment is required.
[0051] Continuing to perform phase optimization, the first... The compensation phase of the next phase compensation , For the first The change in the fluctuation index of the next phase compensation; in the current compensation gain and compensation phase Next, calculate the first... Compensation corresponding speed fluctuation index and the change in volatility indicators , , For the first Compensate for the corresponding speed fluctuation index. The optimization process continues until the obtained speed fluctuation index and / or the change in the fluctuation index meet the conditions.
[0052] In one embodiment, the optimization stops when either an absolute value condition or a rate of change condition is met. The absolute value condition is that the rotational speed fluctuation index is less than a first preset threshold; the rate of change condition is that the fluctuation index changes less than a second preset threshold for M consecutive cycles, where M is an integer greater than 1.
[0053] The second preset threshold can be set to be less than the first preset threshold. For example, the first preset threshold is 1Hz and the second preset threshold is 0.5Hz. M is an integer greater than 1. For example, M can be 5.
[0054] In one embodiment, after stopping the optimization process, a dynamic torque compensation control method for a compressor further includes: Starting from the parameter value at which the optimization of the parameter to be optimized stops, a second parameter perturbation is applied to the parameter to be optimized along the current gradient direction. The rotational speed fluctuation index and the change in the fluctuation index after applying the second parameter perturbation are calculated. The second parameter perturbation is greater than the first parameter perturbation. When the change in the fluctuation index is greater than 0, the parameter value at which the optimization stopped is taken as the optimal parameter value. When the change in the fluctuation index is less than 0, the current parameter value of the parameter to be optimized is used as the starting point, and the optimization of the parameter to be optimized is continued by updating the parameter to be optimized in unit steps.
[0055] After the optimization process stops, to avoid getting trapped in local minima, a second parameter perturbation with a relatively large unit step size is applied to the parameter to be compensated for verification. In one embodiment, the second parameter perturbation is at least twice the unit step size.
[0056] The following explanation continues with the optimization of the phase to be compensated, focusing on the current optimal compensation phase. On top of that, a second parameter perturbation is applied, that is, a second phase perturbation is applied. Second phase perturbation Available phase update step size If it is twice the value of the first... The compensation phase of the next phase compensation At the current compensation gain and compensation phase Next, calculate the first... Compensation corresponding speed fluctuation index and the change in volatility indicators , .
[0057] like The current optimal compensation phase That is, the optimal compensation phase; if If the condition for stopping the search is met, the optimal compensation phase will be obtained.
[0058] In one embodiment, after obtaining the optimal parameter values of all compensation parameters, a dynamic torque compensation control method for a compressor further includes: when the compressor is in a steady-speed operation state, if the current speed fluctuation index reaches a third preset threshold as the load increases, then all compensation parameters are re-optimized one by one.
[0059] Once a stable operating state is reached, the load conditions may change as the equipment operates. The optimal compensation gain and optimal compensation phase that have been found may not be suitable for the changing load conditions and are not optimal. Speed fluctuations will increase. Therefore, the load can be judged based on the value of the speed fluctuation index. If it is determined that a change has occurred, all compensation parameters should be re-optimized one by one.
[0060] In one embodiment, the third preset threshold is greater than the first preset threshold. For example, the third preset threshold can be 2Hz, or it can be set according to the device parameters.
[0061] In this embodiment, by monitoring the speed fluctuation index, load changes can be detected in real time, thereby enabling timely updates to the optimal compensation parameters.
[0062] In one embodiment, the present invention also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the above-described dynamic torque compensation control method for a compressor.
[0063] like Figure 5 As shown, the electronic device 10 may include: a processor 100, a memory 101, a bus 102 and a communication interface 103. The processor 100, the communication interface 103 and the memory 101 are connected via the bus 102. The memory 101 stores a dynamic torque compensation control program for a compressor that can run on the processor 100. When the processor executes the dynamic torque compensation control program for the compressor, it implements the steps provided in any of the foregoing embodiments of the present invention.
[0064] The memory 101 may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device. Communication between the device network element and at least one other network element is achieved through at least one communication interface 103 (which may be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.
[0065] Bus 102 can be an AHB bus, ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. Memory 101 is used to store programs. After receiving an execution instruction, processor 100 executes the program. The dynamic torque compensation control method for a compressor disclosed in any of the aforementioned embodiments of the present invention can be applied to processor 100, or implemented by processor 100.
[0066] Processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above-described method can be completed by integrated logic circuits in the hardware of processor 100 or by instructions in software form. Processor 100 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 101. The processor 100 reads the information in memory 101 and, in conjunction with its hardware, completes the steps of the above method.
[0067] The electronic devices and methods provided in the embodiments of the present invention are based on the same inventive concept and have the same beneficial effects as the methods they employ, operate, or implement.
[0068] In one embodiment, the present invention also discloses a computer-readable storage medium storing an arithmetic unit calling program, which, when executed by a processor, implements the steps of the dynamic torque compensation control method for the compressor as described above.
[0069] like Figure 6 As shown, the computer-readable storage medium is an optical disc 20, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the methods provided in any of the aforementioned embodiments.
[0070] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.
[0071] The computer-readable storage medium provided in the above embodiments of the present invention and the method provided in the embodiments of the present invention are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.
[0072] In one embodiment, the present invention also discloses a computer program product, which includes a computer program that, when executed by a processor, implements the method provided in any of the foregoing embodiments.
[0073] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.
Claims
1. A dynamic torque compensation control method for a compressor, characterized in that, The method includes: Drive the compressor to run and collect the mechanical speed of the compressor in real time; When the mechanical speed is within the compensation range, determine whether the compressor is in a steady-speed operation state; When the compressor is in a steady-speed operation state, the speed fluctuation of the mechanical speed is used to find... The optimal compensation parameters for the shaft current compensation model, the The shaft current compensation model is used to characterize the The relationship between shaft current and the compensation parameters, and the mechanical speed of the compressor; According to the optimal compensation parameters when using The shaft current compensates for the load torque of the compressor.
2. The method as described in claim 1, characterized in that, The method further includes: When the compressor is in the initial start-up acceleration phase, The shaft current uses the initial value of the compensation parameter to perform load torque compensation; During operation, when the mechanical speed is not in a stable operating state, the The shaft current uses the optimal compensation parameters from the previous steady-speed operating state to compensate for the load torque.
3. The method as described in claim 1, characterized in that, The compensation parameters include compensation gain and compensation phase. The expression for the shaft current compensation model is: ， in, for shaft current; To compensate for the gain; It is the harmonic order; This refers to the mechanical speed of the compressor. To compensate for the phase; This refers to the compressor's running time.
4. The method as described in claim 1, characterized in that, Based on the speed fluctuation of the machine, find The optimal compensation parameters for the shaft current compensation model include: One of the compensation parameters is selected as the parameter to be optimized, while the other compensation parameters retain their current values. Using the speed fluctuation index as the cost function, the gradient descent method is used to optimize the parameters to be optimized and obtain the optimal parameter values. The optimal parameter value is used as the current value of the parameter to be optimized, and then the gradient descent method is used to optimize the other compensation parameters one by one until the optimal parameter value of all compensation parameters is obtained.
5. The method as described in claim 4, characterized in that, The step of using gradient descent to optimize the parameters to be optimized includes: A first parameter perturbation is applied to the parameter to be optimized in the first gradient direction; Calculate the speed fluctuation index and the change in the fluctuation index after applying the disturbance; The stopping optimization condition is determined in real time based on the obtained speed fluctuation index and / or the change in fluctuation index. If the condition is met, the optimization stops. If the conditions are not met, the direction of the first gradient is determined based on the change in the fluctuation index. When the first gradient direction is correct, the parameters to be optimized are updated in unit step size according to the first gradient direction, and the speed fluctuation index and the change of the fluctuation index are recalculated after each update until the obtained speed fluctuation index and / or the change of the fluctuation index meet the conditions, then the optimization stops. When the first gradient direction is incorrect, the parameter to be optimized is updated in unit steps along the gradient direction opposite to the first gradient direction, and the speed fluctuation index and the change of fluctuation index are recalculated after each update until the obtained speed fluctuation index and / or the change of fluctuation index meet the conditions, then the optimization stops.
6. The method as described in claim 5, characterized in that, After stopping the optimization process, the method further includes: Starting from the parameter value when the optimization of the parameter to be optimized stops, a second parameter perturbation is applied to the parameter to be optimized along the current gradient direction. The speed fluctuation index and the change of the fluctuation index after applying the second parameter perturbation are calculated. The second parameter perturbation is greater than the first parameter perturbation. When the change in the obtained volatility index is greater than 0, the parameter value at which the optimization stopped will be taken as the optimal parameter value. When the change in the obtained fluctuation index is less than 0, the current parameter value of the parameter to be optimized is used as the starting point, and the unit step size is gradually applied to the parameter to be optimized for optimization.
7. The method as described in claim 6, characterized in that, The second parameter perturbation is at least twice the unit step size.
8. The method as described in claim 5, characterized in that, The stopping condition for optimization is that optimization stops when either the absolute value condition or the rate of change condition is met. Absolute value condition: The speed fluctuation index is less than the first preset threshold; Change rate condition: The change in the fluctuation index is less than the second preset threshold for M consecutive times, where M is an integer greater than 1.
9. The method as described in claim 5, characterized in that, The unit step size is smaller than the first parameter perturbation.
10. The method as described in claim 4, characterized in that, After the step of obtaining the optimal parameter values for all compensation parameters, the method further includes: When the compressor is in a steady-speed operation state, if the current speed fluctuation index reaches the third preset threshold as the load increases, then all compensation parameters will be re-optimized one by one.
11. The method as described in claim 4, characterized in that, The calculation of the speed fluctuation index specifically includes the following steps: Real-time continuous data acquisition The complete speed fluctuation cycle; for the first One fluctuation cycle, Calculate the difference between the maximum and minimum mechanical rotational speeds within the fluctuation period, and record it as the peak-to-peak value. , ； calculate The arithmetic mean of the peak-to-peak values of each fluctuation cycle is used as the speed fluctuation index. The expression is: 。 12. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the dynamic torque compensation control method for the compressor as described in any one of claims 1-11.
13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the dynamic torque compensation control method for the compressor according to any one of claims 1 to 11.
14. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the dynamic torque compensation control method for the compressor according to any one of claims 1-11.